WO2017206613A1

WO2017206613A1 - Robot

Info

Publication number: WO2017206613A1
Application number: PCT/CN2017/081111
Authority: WO
Inventors: 许永昌; 盛阁
Original assignee: 深圳市鼎盛智能科技有限公司
Priority date: 2016-05-30
Filing date: 2017-04-19
Publication date: 2017-12-07
Also published as: CN106003069B; CN106003069A

Abstract

A robot, comprising a head (11), a body (12), and feet (13). The head (11) and the body (12) are both spherical. The feet (13) are elliptical. The head (11) is provided with an interaction panel (111). The interaction panel (111) is provided with a camera (1111) and a microphone (1112). When a kid is about to touch the robot, each touched surface of the robot is circular arc-shaped. By means of the camera (1111) and the microphone (1112) that are provided on the interaction panel (111) of the head, the on-site collision situation is recorded, and the problems of poor monitoring performance and low security level of existing robots are solved.

Description

a robot

Technical field

The invention relates to the technical field of mechanical automation, and in particular to a robot.

Background technique

Intelligent robots interact with children through audiovisual and contact, and are used in preschool and in school education. However, during the interaction process, the child will be in contact with the robot alone. The existing robot cannot be made into a personified near-ball type. The surface of the shell occasionally hurts the child with corners or protrusions. When the child collides with the surface to the injury, the collision occurs. Also, the collision was not found. Poor monitoring performance and insufficient safety.

Summary of the invention

The main object of the present invention is to provide a robot for contacting the anthropomorphic robot head, the body and the foot to be spherical-like and superimposed to form a unitary outer casing. When the child collides with the robot, each surface of the robot is contacted. All are arc surfaces, reducing the risk of injury. In the event of a collision, the scene is recorded by the camera and microphone set on the head interaction panel. The problem that the existing robot monitoring performance is poor and the safety is not good is solved.

In order to achieve the above object, a robot provided by the present invention includes a head, a body and a foot, wherein the head and the body are arranged in a spherical shape, the feet are arranged in an ellipse, and the head is provided with an interaction. a panel, the interactive panel is provided with a camera and a microphone.

Preferably, the body is provided with a switching device comprising a recess for accommodating the switch and a protective cover for concealing the switch.

Preferably, the body comprises a base for controlling the overall movement of the robot, and the base plane of the base is provided with a horizontal docking type charging module.

Preferably, the base is recessed in a spherical body center direction to form a battery compartment, and the battery is housed in the battery compartment.

Preferably, the obstacle avoidance device further includes a detecting device, a controller and the driving mechanism, and the detecting device and the controller are built in the head and the body and are electrically connected to the driving mechanism.

Preferably, the driving mechanism is set to a three-wheel two-wheel drive mode, wherein two rear wheels are set as driving wheel sets, and the front wheels are set as universal wheels.

Preferably, the base further extends a two wheel cover in a spherical center of the elliptical foot, and the driving wheel set is embedded in the wheel cover.

Preferably, a communication module is further included and electrically connected to the controller, the communication module being used by the robot to transmit or receive information.

Preferably, the body is further provided with a bionic mechanism on both sides thereof, and the bionic mechanism is electrically connected to the controller.

Preferably, the head of the robot is rotatably coupled to the body.

The invention provides a robot, in which the head, the body and the foot of the anthropomorphic robot are respectively arranged in a spherical shape and superposed to form a whole shell, so that when the child touches the robot, each surface of the contact robot is a circular arc surface. And through the camera and microphone set on the head interactive panel, record the scene collision situation, optimize the robot monitoring performance and improve safety.

DRAWINGS

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the description of the prior art will be briefly described below. Obviously, the drawings in the following description are only It is a certain embodiment of the present invention, and those skilled in the art can obtain other drawings according to the structures shown in the drawings without any creative work.

1 is a schematic view showing the overall structure of a robot according to the present invention;

2 is a schematic diagram of disassembly of a switch device according to an embodiment of the present invention;

3 is a schematic view of a body disassembly according to an embodiment of the present invention;

4 is a schematic view of the disassembly of the head and the body in an embodiment of the present invention;

FIG. 5 is a schematic view showing the overall structure of a driving wheel according to an embodiment of the present invention; FIG.

6 is a schematic view showing disassembly of a bionic mechanism in a modified embodiment of the present invention;

Figure 7 is a schematic illustration of the disassembly of the head and body in a modified embodiment of the present invention.

Description of the reference numerals:

标号Label	名称name	标号Label	名称name	标号Label	名称name
1111	头部head	23twenty three	保护盖protection cap	6161	避障装置Obstacle avoidance device
1212	身体body	3030	控制器Controller	611611	红外距离传感器Infrared distance sensor
1313	脚部Foot	3131	主控制器main controller	612612	透光片Translucent sheet
111111	交互面板Interactive panel	3232	副控制器Secondary controller	613613	测距传感器Ranging sensor
11111111	摄像头camera	4040	驱动机构Drive mechanism	7070	通讯模块Communication module
11121112	咪头Microphone	4141	驱动轮组Drive wheel set	8080	仿生机构Bionic institution
112112	转轴Rotating shaft	4242	从动轮driven wheel	8181	仿生鳍翅Bionic fin
121121	底座Base	411411	驱动轮Drive wheel	8282	固定板Fixed plate
12111211	电池仓Battery compartment	41114111	马达motor	8383	驱动器driver
12121212	轮罩Wheel covers	41124112	电路卡板Circuit card board	811811	连杆link
122122	通孔Through hole	41134113	活动轮Activity wheel	9191	轴承Bearing
123123	阶梯孔Stepped hole	421421	万向轮Universal wheel	9292	电动机electric motor
2020	开关装置Switching device	5050	充电模块Charging module	9393	联轴器Coupling
21twenty one	开关switch	5151	蓄电池Battery	9494	齿轮组Gear set
22twenty two	凹陷部Depression	5252	接线端Terminals
221221	安装窗Installation window	6060	避障装置Obstacle avoidance device

The implementation, functional features, and advantages of the present invention will be further described in conjunction with the embodiments.

detailed description

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

It should be noted that if there is a directional indication (such as up, down, left, right, front, back, ...) in the embodiment of the present invention, the directional indication is only used to explain in a certain posture (as shown in the drawing) The relative positional relationship between the components under the condition, the activity situation, etc., if the specific posture changes, the directionality indication also changes accordingly.

In addition, if there is a description of "first", "second", etc. in the embodiments of the present invention, the description of the "first", "second", etc. is used for the purpose of description only, and is not to be construed as an Its relative importance or implicit indication of the number of technical features indicated. Thus, features defining "first" or "second" may include at least one of the features, either explicitly or implicitly. In addition, the technical solutions between the various embodiments may be combined with each other, but must be based on the realization of those skilled in the art, and when the combination of the technical solutions is contradictory or impossible to implement, it should be considered that the combination of the technical solutions does not exist. It is also within the scope of protection required by the present invention.

Referring to FIG. 1 , the present invention provides a robot including a head portion 11 , a body 12 and a leg portion 13 . The head portion 11 and the body 12 are all disposed in a spherical shape, and the leg portion 13 is disposed in an elliptical shape. The head 11 is provided with an interactive panel 111, and the interactive panel 111 is provided with a camera 1111 and a microphone 1112. In order to ensure the safety of the collision between the child and the robot, the head 11 and the body 12 of the robot are arranged in a spherical shape, and the purpose is to reduce the damage caused by the collision by the circular arc surface, and to enhance the protective performance of the housing. Enhance the anti-collision capability of the robot. It is well known that the curvature of each surface of the arc surface is the same, and no convex or angular edges are generated. When the child collides with the robot, the surface contact area is sufficiently increased by the surface of the circular arc, thereby reducing the potential risk of injury and increasing safety. . It should be noted that the foot is arranged in an elliptical shape, which helps to reduce the center of gravity of the robot and prevent the robot from colliding with the child during the fall. Although the curvature of the elliptical surface is not completely uniform, however, the whole has a uniform transition, and there is no convex or angular edge caused by the sudden change of curvature. When the collision occurs, it can still provide sufficient contact area, which reduces the potential risk of injury and increases Security. It should be further noted that the spherical head portion 11, the body 12 and the leg portion 13 can be integrated into a whole by various means, such as: cavity forming, 3D printing, heat sealing and bonding, etc. A person skilled in the art can obtain corresponding technical solutions according to the embodiments of the present invention and the drawings of the present invention, and details are not described herein again.

Impact and contact area are important factors in children's collision with robots. Under the given contact area, as the impact force increases, it will still cause children to get hurt. The lack of monitoring performance of the robot, once the injury occurs, the child's guardian can not know the process of the collision, making it difficult to implement preventive measures. Considering the safety of the child in the process of contacting the robot alone, the robot of the embodiment of the invention not only improves the monitoring performance by strengthening the surface shell protection, but also improves the safety of the child when contacting the robot independently by strengthening the monitoring performance. By providing the interactive panel 111 on the head 11 of the robot, the interactive panel 111 can be a flat or curved panel. When using the flat panel, a rounded corner is added to the joint between the panel and the head to reduce the influence on the shape of the head 11. When the panel is used, the spherical cap-shaped panel can be set to be in conformity with the curvature of the head portion 11. The faded introduction of the flange causes the safety thereof to be deteriorated. In addition, since the manufacturing process of the flat panel is relatively simple and the cost is low, the planar panel is preferably the embodiment. A preferred solution. The interactive panel is provided with a camera 1111 and a microphone 1112 for collecting video, picture and sound information when the child and the robot are in separate contact, and the guardian knows the collision process by calling the information, thereby providing countermeasures against collision. Occurs to improve the safety of the child's independent contact with the robot by enhancing the monitoring performance to achieve good anti-collision.

Further improving the safety of the child when independently contacting the robot, as shown in Fig. 2, in an embodiment, the switching device 20 is provided to conceal the switch 21 for protection. By providing the switching device 20 on the body of the robot, the switching device includes a recess 22 for accommodating the switch 21 and a protective cover 23 for concealing the switch. The recessed portion 22 is recessed along the surface of the robot body 12. The recessed portion 22 is provided with a mounting window 221, and the switch 21 is engaged with the mounting window 221 and received in the recessed portion 22. The switch 21 is further concealed and protected, and the protective cover 23 is snap-fitted with the recess 22 and shields the recess 22 so that the switch 21 is placed in the enclosed space enclosed by the protective cover 23 and the recess 22. Obviously, the connection and shielding of the recessed portion 22 can be realized by the screw fastening method or the pin hole matching manner. The technical means that can be easily obtained by the embodiment of the present invention or the drawings are not described herein. Since the cover 21 is covered by the protective cover 23, the switch 21 cannot be visually found from the surface of the outer casing of the robot, thereby improving the protection performance of the switch 21 and improving safety.

The movement of the robot is controlled, and the safety of the child when independently contacting the robot can be further improved. Referring to FIG. 3, the robot body 12 includes a base 121 for controlling the overall movement of the robot, and the base 121 includes a mechanism for controlling the overall movement of the robot. The controller 30 and the driving mechanism 40 are electrically connected to the driving mechanism 40 above the base 121, and send a control signal to the driving mechanism 40. The driving mechanism 40 drives the base 121 to control the overall movement of the robot. The electrical connection can be implemented in various manners, such as: connecting through wires, integrated data lines, integrated circuits, etc., the controller 30 processes internal signals and issues control signals, and the controller 30 can implement information by a single chip or a chip. Processing and control functions, in practical applications, the controller 30 can also be set to a separate or integrated type according to the internal structure of the robot. It should be clarified that the so-called integrated controller refers to a plurality of driving mechanisms that will be controlled. The function is integrated on a circuit board. The so-called split controller refers to the function of controlling multiple drive mechanisms into multiple boards. In this embodiment, only a single driving mechanism is involved, which will not be described here. The drive mechanism 40 includes a drive wheel set 41 for moving the entire robot to provide power, and a driven wheel 42 for mainly guiding the drive wheel 42. There may be various ways of controlling, such as program control, remote control mode, self-navigation mode, and proximity touch, etc., which will be further described later, and will not be described in detail herein. In order to give the robot a long battery life and at the same time achieve good protection performance, the base plane of the base 121 is provided with a horizontal docking type charging module 50. The charging module 50 includes a battery 51 and a terminal 52 for storing electric energy when the robot is in a long battery life. The battery 51 is placed above the bottom plane of the base, and the terminal 52 is placed under the bottom plane of the base and electrically connected to the battery 51 through the wire. connection. The battery 51 is disposed above the base 121 and built in the robot housing to prevent children from touching. At the same time, the terminal 52 is provided for external power supply charging. Obviously, there are various charging methods for the external power supply, and the plug-in type is a common type, such as a plug connector, and an inductive charging method, such as coil sensing. However, in this embodiment, for the comprehensive consideration of manufacturing cost and safety, horizontal docking charging is selected, the terminal 52 is set as a voltage guiding piece or a spring piece, and the terminal is disposed under the bottom plane of the base, and the robot is charged. The robot is charged by contacting the charging piece or the elastic piece at the bottom of the robot through the terminal of the external power source, and the terminal 52 is hidden under the robot base 121, and the child is difficult to contact, thereby ensuring safety.

When the protection of the outer casing fails, the child is prevented from reaching the robot body and touching the battery 51, thereby further improving the safety of the robot. In a preferred embodiment, the base 121 is recessed in the direction of the center of the spherical body 12 to form a battery compartment 1211. The battery 51 is received in the battery compartment 1211. When the outer casing breaks and the protection fails, the child's hand passes through the damaged casing and enters the robot body to touch the battery 51, and is further blocked by the battery compartment 1211, preventing the child from directly touching the battery 51, and optimizing the safety performance.

The robot has the function of actively avoiding collisions to provide better crashworthiness and more reliable safety. Referring to FIG. 3 and FIG. 4, in another embodiment, the robot is provided with an obstacle avoidance device 60. The obstacle avoidance device 60 further includes a detecting device 61 and a controller 30. The detecting device 61 and the controller 30 are built in the robot. The head 11 and the body 12 are electrically connected to the drive mechanism 40. Wherein, the controller 30 is disposed as an independent main controller 31 built in the head 11 of the robot, and the controller 30 included in the driving mechanism 40 is disposed such that the sub controller 32 is built in the body 12 of the robot, and the main control The device 31 is electrically connected to the sub-controller 32 to perform a separate processing on the control signal. Of course, it can also be integrated with a controller in the driving mechanism 40 on a circuit board, which is a technology that can be easily conceived by those skilled in the art from the above description and the drawings, and details are not described herein. Before the obstacle avoidance, the robot uses a non-contact sensor to obtain a timely pre-judgment signal. Meanwhile, in order to reduce the manufacturing cost of the product, in an embodiment, the detecting device 61 includes an infrared distance sensor 611 that detects an obstacle in a direction in which it is directed by emitting infrared light, and infrared light reflected back from the obstacle. When a certain intensity is reached, the obstacle distance is sensed and a signal is sent to the main controller 31, so that the main controller 31 sends a signal to the sub-controller 32, which processes the signal and sends a control signal to the drive mechanism 40 to control The drive mechanism 40 is turned to avoid obstacles to prevent collisions from occurring. Infrared sensors are non-contact detectors that have the ability to predict obstacles in advance compared to devices such as contact probes or shock sensors. Of course, the detecting device 61 can also be set as an ultrasonic sensor or other photosensitive sensor, and other photosensitive sensors such as a photoresistor, a photodiode, and an ultraviolet sensor. In view of the low cost and wide application of the infrared distance sensor, the embodiment uses an infrared distance sensor. The infrared distance sensor 611 is disposed in a direction in which the robot travels, retreats, and turns, and is fixedly mounted in the casing. A light-transmitting sheet 612 is disposed at the position of the infrared distance sensor 611. Obviously, infrared light can be transmitted and received by providing a through-hole, and the light-transmitting sheet 612 mainly functions to protect the infrared distance sensor 611. The detecting device 61 further includes ranging sensors 613, which are respectively arranged on the plane of the robot base. When the obstacle enters the robot bottom stop drive mechanism 40, the distance measuring sensor 613 detects the distance signal of the stop drive mechanism 40 and sends it back to the main controller 31, so that the main controller 31 sends a signal to the sub controller 32, and the sub controller The device 32 controls the drive mechanism 40 to move in the opposite direction to avoid obstacles. There is also a type of obstacle that exists in the way of road cutting or bluffing. Similarly, the above method can detect and guide the robot to avoid such obstacles, prevent the robot from turning or falling, thereby further improving the obstacle avoidance effect and preventing collision or Impact improves safety.

The anti-collision performance is improved by improving the steering ability. Referring to FIG. 3 to FIG. 5, in another embodiment, the driving mechanism 40 is configured as a three-wheeled two-wheel drive mode, and the driving mechanism 40 is placed on the base 121. It can be embedded and mounted, etc. The hanging refers to the hanging installation and the embedded mounting refers to the embedded installation. The detailed scheme will be explained later. To facilitate steering and increase the steering angle, the driven wheel 42 is provided as a front universal wheel 421 which is provided as a pair of rear drive wheels 411, the drive wheel 411 including a motor 4111, a circuit card board 4112 and activity wheel 4113. When turning, the controller 30 adjusts the rotational speeds of the two motors 4111 by transmitting a control signal to the circuit card 4112. The purpose is to form a rotational speed difference between the two movable wheels 4113, and the rotational speed difference drives the universal wheel 421 to adjust the direction, thereby Drive the robot to turn. Certainly, the driving mechanism of the driving mechanism 40 can be various, such as a four-wheel four-wheel drive, a three-wheel three-wheel drive, a four-wheel two-wheel drive, etc., which is a structure that can be easily obtained by a person skilled in the art according to the embodiment of the present invention and the drawings. No longer. Through the above technical means, the robot can be controlled to move and achieve flexible steering, which avoids the collision of the robot due to the inability of the robot to control or turn, and further enhances the anti-collision performance.

When the outer casing protection fails, the child is prevented from reaching the robot body and touching the driving wheel set 41, thereby further improving the safety of the robot. In another preferred embodiment, the base 121 extends the two wheel housings 1212 in the direction of the center of the spherical foot portion 13, and the driving wheel sets 41 are embedded in the wheel housing 1212. The lower opening of the wheel cover 1212 is in communication with the ground, and the drive wheel set 41 is in contact with the ground through the base 121 through the wheel cover 1212. When the child's hand passes through the damaged casing and enters the robot foot 13 to touch the driving wheel set 41, the wheel cover 1212 is further blocked to prevent the child from directly touching the driving wheel set 41, thereby further improving the safety performance of the robot. .

Once a collision injury occurs, the child's guardian cannot know the occurrence of the collision in time, and it is difficult to implement timely control to prevent the occurrence of secondary collisions and multiple collisions. In the embodiment of the invention, the robot improves the safety of the child when contacting the robot independently through real-time and remote monitoring. The robot further includes a communication module 70 built in the robot and integrated in the controller 30. The communication module 70 is used for transmitting and receiving signals. When a collision occurs, the live image and sound are sent to the guardian client through signals. The guardian knows the real-time collision situation through the signal, and sends back the control signal through the client. The communication module 70 receives the control signal to control the start, stop and turn of the robot, and quickly prevents the occurrence of secondary collisions through real-time and remote monitoring. safety.

In view of the increased interactive experience during the monitoring process, as shown in FIG. 6, a bionic mechanism 80 is provided on both sides of the robot body 12, and the bionic mechanism 80 is electrically connected to the controller 30. The bionic mechanism 80 includes a bionic fin fin 81, a fixing plate 82, and a driver 83. The robot body 12 is provided with a through hole 122 on both sides thereof. The bionic mechanism is engaged with the through hole 122 through the fixing plate 82, and the driver 83 is mounted on the driving body 83. The fixed plate 82 is placed on the inner side of the robot, and the bionic fins 81 are located on the other side of the fixed plate 82 outside the casing. The bionic fins 81 extend out of a link 811, and the other end of the link 811 is connected to the driver 83. The driver 83 is used to drive the link 811 to drive the bionic fin fins 81 to open and close. The driver 83 can be configured as an electromagnet or can be configured to be driven by a motor and electrically connected to the controller 30. This is a structure that can be easily obtained by a person skilled in the art according to the embodiment of the present invention and the drawings, and details are not described herein again. The bionic mechanism 80 performs an opening and closing motion according to a control signal sent from the controller 30, which increases the interactivity in the monitoring process.

There is a limitation in the viewing angle during the monitoring process, and it is necessary to rely on the robot to move the direction to adjust the surrounding conditions. Set the head 11 to rotate to quickly adjust the angle of view, sweep away the blind spot of the guard, and improve safety. Referring to Figure 7, in a preferred embodiment, the head 11 of the robot is rotatably coupled to the body 12. There are various ways of rotatably connecting, including through the planetary gear mechanism and the shaft bearing. In the embodiment of the present invention, a case in which the shaft bearing is fitted is described. A stepped hole 123 is provided in an upper portion of the robot body 12, and a bearing 91 is placed on the stepped hole 123, and the bearing is provided as a rolling bearing and a sliding bearing. The head 11 of the robot extends out of a tubular rotating shaft 112. The rotating shaft 112 is integrally formed with the robot head 11 or separately formed and fixed. The tubular shaft 112 is configured to be tubular. The purpose is to connect the bearing 91 and connect the body 12 and the head 11 to facilitate the wire. Pass through. The rotation of the shaft 112 relative to the bearing 91 causes the head 11 to rotate relative to the body 12, thereby adjusting the angle of the head 11 relative to the body 12, increasing the range of viewing angles of the monitoring. Of course, in order to further realize the visual angle control, the motor 92 is driven to drive the rotating shaft 112, and the motor 92 is electrically connected to the controller 30, and the control signal sent by the controller 30 adjusts the corresponding angle of the head 11 to achieve full-view controllable. Monitoring. There are also a plurality of transmission modes driven by the motor 92. The direct transmission and the indirect transmission of the set gear set 94 are realized by providing a coupling 93 (not shown), which is a person skilled in the art according to the embodiment of the present invention and the accompanying drawings. Structures that are easily available are not described here. The monitoring can control the viewing angle to improve the monitoring ability and further improve the safety of the robot.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the invention, and the equivalent structural transformation, or direct/indirect use, of the present invention and the contents of the drawings are used in the inventive concept of the present invention. It is included in the scope of the patent protection of the present invention in other related technical fields.

Claims

A robot, comprising: a head, a body and a foot, wherein the head and the body are arranged in a spherical shape, the feet are arranged in an ellipse, and the head is provided with an interaction panel, the interaction There are cameras and microphones on the panel.
The robot according to claim 1, wherein said body is provided with a switching device, and said switching device includes a recess portion for accommodating the switch and a protective cover for concealing the switch.
The robot according to claim 1, wherein said body includes a base for controlling movement of the robot as a whole, and a bottom docking type charging module is disposed on a bottom plane of said base.
The robot according to claim 3, wherein the base is recessed in a spherical body center direction to form a battery compartment, and the battery is housed in the battery compartment.
The robot according to claim 3, further comprising an obstacle avoidance device, wherein the obstacle avoidance device includes a detecting device, a controller, and the driving mechanism, wherein the detecting device and the controller are built in the head and The body is electrically connected to the drive mechanism.
The robot according to claim 5, wherein the driving mechanism is provided in a three-wheeled two-wheel drive mode, wherein two rear wheels are set as driving wheels and the front wheels are set as universal wheels.
The robot of claim 6 wherein said base further extends a two wheel cover in the direction of the center of the elliptical foot, said set of drive wheels being embedded within said wheel cover.
A robot according to any one of claims 1 to 3, further comprising a communication module and electrically connected to the controller, the communication module for transmitting or receiving information by the robot.
The robot according to any one of claims 1 to 3, characterized in that both sides of the body are further provided with a bionic mechanism, and the bionic mechanism is electrically connected to the controller.
A robot according to any one of claims 1 to 7, wherein the head of the robot is rotatably coupled to the body.